humanoid_ws

Building Humanoids: MIS/END-TIRI/ME/HPM/2526/004

Dev Updates V2

• Update URDF to v2 for Gripper integration
• Obstacle Avoidance using octomap
• Moveit issue with revolute to prismatic conversion and execution on real hardware (open #3518)
• Add Gripper gestures
• Add classes for Troubleshooting Feedbacks
• Add Cpp code for Safety contraints - absolute and relative torque, absolute velocity and joint limits
• Class for Hardwarre Connections and Temperature check
• Piroky Custom Library in Cpp instead of KDL (M-C-G matrix)

Workspace Setup

Build ws

cd ~/humanoid_ws
colcon build
source install/setup.bash

Env Config

Add to your ~/.bashrc file:

source /opt/ros/humble/setup.bash
source ~/ws_moveit2/install/setup.bash
source ~/humanoid_ws/install/setup.bash

Commands

Launch Simulation & Hardware

ros2 launch myrobot_moveit_config robot.launch.py

Gesture Control

Topic name: /humanoid_command

Start the gesture subscriber:

ros2 run half_humanoid_control_actions humanoid_command_listener

Send gesture commands:

ros2 topic pub /humanoid_command std_msgs/msg/String "{data: 'hi'}"

Pick & Place Operations

Topic name for camera frame: /pick_camera_tf /place_camera_tf

Topic name for base_link frame: /pick_transform /place_transform

Start the IK solver:

ros2 run pick_place_with_grasp pick_place_node

Send pick transform:

ros2 topic pub --once /pick_transform std_msgs/msg/Float64MultiArray
 1960  "data: [1,0,0,0.4, 0,1,0,-0.1, 0,0,1,0.150, 0,0,0,1]"

Realsense Camera

Topic name: /camera/depth/color/points

ros2 run realsense2_camera realsense2_camera_node --ros-args   -p align_depth.enable:=true   -p pointcloud.enable:=true   -p depth_module.profile:="640x480x30"   -p enable_color:=true   -p enable_depth:=true   -p enable_accel:=false   -p enable_gyro:=false

Hardware Info

180° in Dynamixel Wizard = 0° in Rviz

• XM430-W350 for Arms, XL430-W250 for Head and Grippers
• Protocol: 2.0
• Baud Rate: 4000000
• Left Arm: 11 -> 17
• Right Arm: 21 -> 27
• Grippers: 28, 18 (1024 = close, 2048 = open)
• Head: 31, 32